diff --git a/MicroPython_BUILD/components/micropython/esp32/modules/ak8963.py b/MicroPython_BUILD/components/micropython/esp32/modules/ak8963.py
index 7eb3af70..8b99e0b1 100644
--- a/MicroPython_BUILD/components/micropython/esp32/modules/ak8963.py
+++ b/MicroPython_BUILD/components/micropython/esp32/modules/ak8963.py
@@ -64,7 +64,7 @@ def __init__(
         if 0x48 != self.whoami:
             raise RuntimeError("AK8963 not found in I2C bus.")
 
-        # Sensitivity adjustement values
+        # Sensitivity adjustment values
         self._register_char(_CNTL1, _MODE_FUSE_ROM_ACCESS)
         asax = self._register_char(_ASAX)
         asay = self._register_char(_ASAY)
@@ -72,7 +72,7 @@ def __init__(
         self._register_char(_CNTL1, _MODE_POWER_DOWN)
 
         # Should wait atleast 100us before next mode
-        self._adjustement = (
+        self._adjustment = (
             (0.5 * (asax - 128)) / 128 + 1,
             (0.5 * (asay - 128)) / 128 + 1,
             (0.5 * (asaz - 128)) / 128 + 1
@@ -94,10 +94,10 @@ def magnetic(self):
         xyz = list(self._register_three_shorts(_HXL))
         self._register_char(_ST2) # Enable updating readings again
 
-        # Apply factory axial sensitivy adjustements
-        xyz[0] *= self._adjustement[0]
-        xyz[1] *= self._adjustement[1]
-        xyz[2] *= self._adjustement[2]
+        # Apply factory axial sensitivy adjustments
+        xyz[0] *= self._adjustment[0]
+        xyz[1] *= self._adjustment[1]
+        xyz[2] *= self._adjustment[2]
 
         # Apply output scale determined in constructor
         so = self._so
@@ -118,8 +118,8 @@ def magnetic(self):
         return tuple(xyz)
 
     @property
-    def adjustement(self):
-        return self._adjustement
+    def adjustment(self):
+        return self._adjustment
 
     @property
     def whoami(self):
diff --git a/MicroPython_BUILD/components/micropython/esp32/modules/mpu6500.py b/MicroPython_BUILD/components/micropython/esp32/modules/mpu6500.py
index 59e66665..7953a790 100644
--- a/MicroPython_BUILD/components/micropython/esp32/modules/mpu6500.py
+++ b/MicroPython_BUILD/components/micropython/esp32/modules/mpu6500.py
@@ -30,7 +30,7 @@
 _ACCEL_YOUT_H = const(0x3d)
 _ACCEL_YOUT_L = const(0x3e)
 _ACCEL_ZOUT_H = const(0x3f)
-_ACCEL_ZOUT_L= const(0x40)
+_ACCEL_ZOUT_L = const(0x40)
 _TEMP_OUT_H = const(0x41)
 _TEMP_OUT_L = const(0x42)
 _GYRO_XOUT_H = const(0x43)
@@ -59,7 +59,7 @@
 GYRO_FS_SEL_2000DPS = const(0b00011000)
 
 _GYRO_SO_250DPS = 131
-_GYRO_SO_500DPS = 62.5
+_GYRO_SO_500DPS = 65.5
 _GYRO_SO_1000DPS = 32.8
 _GYRO_SO_2000DPS = 16.4
 
@@ -71,7 +71,7 @@
 SF_G = 1
 SF_M_S2 = 9.80665 # 1 g = 9.80665 m/s2 ie. standard gravity
 SF_DEG_S = 1
-SF_RAD_S = 57.295779578552 # 1 rad/s is 57.295779578552 deg/s
+SF_RAD_S = 57.295779513082 # 1 rad/s is 57.295779513082 deg/s
 
 class MPU6500:
     """Class which provides interface to MPU6500 6-axis motion tracking device."""
diff --git a/MicroPython_BUILD/components/micropython/esp32/modules_examples/drivers/ak8963.py b/MicroPython_BUILD/components/micropython/esp32/modules_examples/drivers/ak8963.py
index 7eb3af70..8b99e0b1 100644
--- a/MicroPython_BUILD/components/micropython/esp32/modules_examples/drivers/ak8963.py
+++ b/MicroPython_BUILD/components/micropython/esp32/modules_examples/drivers/ak8963.py
@@ -64,7 +64,7 @@ def __init__(
         if 0x48 != self.whoami:
             raise RuntimeError("AK8963 not found in I2C bus.")
 
-        # Sensitivity adjustement values
+        # Sensitivity adjustment values
         self._register_char(_CNTL1, _MODE_FUSE_ROM_ACCESS)
         asax = self._register_char(_ASAX)
         asay = self._register_char(_ASAY)
@@ -72,7 +72,7 @@ def __init__(
         self._register_char(_CNTL1, _MODE_POWER_DOWN)
 
         # Should wait atleast 100us before next mode
-        self._adjustement = (
+        self._adjustment = (
             (0.5 * (asax - 128)) / 128 + 1,
             (0.5 * (asay - 128)) / 128 + 1,
             (0.5 * (asaz - 128)) / 128 + 1
@@ -94,10 +94,10 @@ def magnetic(self):
         xyz = list(self._register_three_shorts(_HXL))
         self._register_char(_ST2) # Enable updating readings again
 
-        # Apply factory axial sensitivy adjustements
-        xyz[0] *= self._adjustement[0]
-        xyz[1] *= self._adjustement[1]
-        xyz[2] *= self._adjustement[2]
+        # Apply factory axial sensitivy adjustments
+        xyz[0] *= self._adjustment[0]
+        xyz[1] *= self._adjustment[1]
+        xyz[2] *= self._adjustment[2]
 
         # Apply output scale determined in constructor
         so = self._so
@@ -118,8 +118,8 @@ def magnetic(self):
         return tuple(xyz)
 
     @property
-    def adjustement(self):
-        return self._adjustement
+    def adjustment(self):
+        return self._adjustment
 
     @property
     def whoami(self):
diff --git a/MicroPython_BUILD/components/micropython/esp32/modules_examples/drivers/mpu6500.py b/MicroPython_BUILD/components/micropython/esp32/modules_examples/drivers/mpu6500.py
index 59e66665..7953a790 100644
--- a/MicroPython_BUILD/components/micropython/esp32/modules_examples/drivers/mpu6500.py
+++ b/MicroPython_BUILD/components/micropython/esp32/modules_examples/drivers/mpu6500.py
@@ -30,7 +30,7 @@
 _ACCEL_YOUT_H = const(0x3d)
 _ACCEL_YOUT_L = const(0x3e)
 _ACCEL_ZOUT_H = const(0x3f)
-_ACCEL_ZOUT_L= const(0x40)
+_ACCEL_ZOUT_L = const(0x40)
 _TEMP_OUT_H = const(0x41)
 _TEMP_OUT_L = const(0x42)
 _GYRO_XOUT_H = const(0x43)
@@ -59,7 +59,7 @@
 GYRO_FS_SEL_2000DPS = const(0b00011000)
 
 _GYRO_SO_250DPS = 131
-_GYRO_SO_500DPS = 62.5
+_GYRO_SO_500DPS = 65.5
 _GYRO_SO_1000DPS = 32.8
 _GYRO_SO_2000DPS = 16.4
 
@@ -71,7 +71,7 @@
 SF_G = 1
 SF_M_S2 = 9.80665 # 1 g = 9.80665 m/s2 ie. standard gravity
 SF_DEG_S = 1
-SF_RAD_S = 57.295779578552 # 1 rad/s is 57.295779578552 deg/s
+SF_RAD_S = 57.295779513082 # 1 rad/s is 57.295779513082 deg/s
 
 class MPU6500:
     """Class which provides interface to MPU6500 6-axis motion tracking device."""